CN110082707B - Circular path radius optimization method for high-precision positioning of deep and far sea acoustic beacon - Google Patents
Circular path radius optimization method for high-precision positioning of deep and far sea acoustic beacon Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
- G01S1/80—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional transducers or transducer systems spaced apart, i.e. path-difference systems
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Abstract
The invention discloses a method for optimizing the radius of an annular path for high-precision positioning of a deep sea acoustic beacon. Firstly, under the condition of DOA rough measurement of positioning errors, obtaining an area where a target is located; secondly, summing and averaging the accurately positioned HDOPs of all points in the area according to different circular path radiuses; and finally, comparing to obtain the radius corresponding to the minimum average value, namely the optimal radius. Compared with the existing method for determining the radius of the annular path by experience, the method effectively improves the positioning precision, effectively reduces the length of the sailing track, reduces the energy consumption and the positioning time, and achieves high efficiency, high precision and low cost.
Description
Technical Field
The invention belongs to the field of underwater acoustic positioning, and particularly relates to a method for optimizing the radius of an annular path for high-precision positioning of a deep-sea acoustic beacon.
Background
The whole process of the high-efficiency search of the acoustic beacon is sequentially divided into the following steps: signal searching stage, direction finding guiding stage and accurate positioning stage. The signal searching stage is a first process, and has the main functions of realizing large-range signal detection and search, aiming at receiving underwater target signals, after confirming that the target signals are received, the AUV (underwater robot without a cable) continues to navigate along a searching path until the target angle is in the broadside direction, ending the signal searching stage, and entering the direction finding guiding stage. The direction finding guiding stage is a second process, aims to estimate the position and the distance of the target in real time and guide the AUV to approach the target, and always ensures that the target is in the visual field range of the carrier in the approaching process. The fine positioning stage is a third process for accurately measuring the target position. In the accurate positioning stage, the AUV makes a circle around the target and completes the accurate estimation of the target position. The present invention provides a navigation radius with the highest precision for the stage.
The previous methods determine the radius of a navigation annular path by experience, the precision is not necessarily the highest precision, and the defects of high energy consumption, long time consumption, high cost, low efficiency and the like can be caused.
Disclosure of Invention
The invention discloses a circular path radius optimization method for high-precision positioning of a deep and far sea acoustic beacon, which aims to overcome the defects of low precision, high energy consumption, long time consumption, high cost and low efficiency of the conventional AUV in the third process.
The invention is realized by the following technical scheme: the method for optimizing the radius of the annular path for high-precision positioning of the deep-sea acoustic beacon comprises the following steps:
s100, taking four positioning resolving points on circles with different radiuses, and obtaining HDOP (horizontal division of Precision-horizontal Precision factor) distribution corresponding to different radiuses under the conditions of time delay errors, resolving point positioning errors and sound speed errors;
s200, judging whether all the radiuses are traversed, if so, executing a step S500; otherwise, returning to the step S100;
s300, in the second stage of the acoustic beacon searching process, two positioning resolving points are taken from a curve navigation track, and under the conditions of time delay error, resolving point positioning error and sound velocity error, coarse-side positioning HDOP distribution of a target point is calculated, wherein HDOP is the standard deviation of random distribution of the acoustic beacons and has a 3 sigma principle;
s400, the probability of the numerical distribution in (μ -3 σ, μ +3 σ) is 0.9973, that is, the values of the random variables are almost all concentrated in the (μ -3 σ, μ +3 σ) interval, and the probability of exceeding this range is only less than 0.3%, so according to this principle, the target distribution space is a circle with a radius of 3 σ, and then step S500 is executed;
s500, calculating accurately positioned HDOP distribution under different circular path radiuses, and determining the radius of the optimized circular path: according to the area where the target possibly exists, which is obtained by calculation in step S200, the sum of HDOPs in the area is calculated and averaged in combination with the TDOA (time difference of arrival-time difference) algorithm HDOP distribution in different radii, which is obtained in step S100;
s600, comparing the average values obtained by different radiuses, wherein the radius corresponding to the minimum average value is the obtained optimal radius.
Further, step S100 includes: calculating the accurate positioning HDOP distribution under different circular path radiuses:
positioning resolving equation based on time delay difference information:
wherein x and y are the horizontal and vertical coordinates of the target point, x i ,y i (i =0,1,2, 3) is the abscissa and ordinate of the four positioning solution points, c is the sound velocity, Δ t i (i =1,2, 3) is the delay difference between the two resolving points for the received acoustic signal,
the solution for HDOP is as follows:
D x the mode length of (a) is the HDOP,
wherein, partial differential matrix:
covariance matrix:
wherein
Is the standard deviation of the error of the delay difference,
solving the error standard deviation, sigma, of point positioning for positioning c Is the standard deviation of the error in the speed of sound,
and obtaining HDOP distribution corresponding to different radiuses.
Further, step S400 includes: determining a target possible range according to the rough measurement positioning result and the HDOP distribution:
the positioning resolving equation based on the angle intersection is as follows:
the solution for HDOP is as follows:
D x the mode length of (b) is the HDOP,
wherein,
the distribution space of the target is a circle with a radius of 3 sigma.
Further, step S600 includes: the determined optimized circular path radius is:
the invention has the beneficial effects that: the radius determining method designed by the invention can provide an optimal radius for the third stage of the sound beacon searching process so as to achieve the highest positioning precision. Compared with the existing calibration method, the method has the advantages that the positioning accuracy is effectively improved, and the theoretical basis and the scientific basis are provided.
Drawings
FIG. 1 is a flowchart of a method for optimizing the radius of a circular path for high-precision positioning of a deep-sea acoustic beacon according to the present invention;
FIG. 2 is a graph of HDOP distribution for different circular path radii, wherein:
FIG. 2 (a) is a HDOP distribution plot for a circular path radius of 500 m;
FIG. 2 (b) is a HDOP distribution plot of a circular path radius of 750 m;
FIG. 3 is a HDOP distribution graph for different raw measurement paths, wherein:
FIG. 3 (a) is a HDOP distribution graph under rough measurement path 1;
FIG. 3 (b) is a HDOP distribution graph under the rough measurement path 2;
FIG. 4 is a graph of average positioning accuracy at different circular path radii;
FIG. 5 is a graph of a pinpoint HDOP distribution, wherein:
FIG. 5 (a) is a graph of a pinpoint HDOP profile at an annular path radius of 500 m;
FIG. 5 (b) is a graph of a pinpoint HDOP distribution at a circular path radius of 750 m;
FIG. 6 is a graph of a coarse-side-positioned HDOP distribution.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, the present invention provides the following technical solutions: fig. 1 provides an embodiment of a circular path radius optimization method for high-precision positioning of deep-sea acoustic beacons, where the underwater acoustic positioning method includes the following steps:
s100, taking four positioning resolving points on circles with different radiuses, and obtaining HDOP distribution corresponding to the different radiuses under the conditions of time delay errors, resolving point positioning errors and sound speed errors;
s200, judging whether all the radiuses are traversed, if so, executing a step S500; otherwise, returning to the step S100;
s300, in a second stage of the searching process of the acoustic beacon, two positioning resolving points are taken from a curve navigation track, and under the conditions of time delay error, resolving point positioning error and sound velocity error, coarse-side positioning HDOP distribution of a target point is calculated, wherein HDOP is a standard deviation of random distribution of the acoustic beacon and has a 3 sigma principle;
s400 the probability of the numerical distribution in (μ -3 σ, μ +3 σ) is 0.9973, i.e. the values of the random variables are almost all concentrated in the (μ -3 σ, μ +3 σ) interval, and the probability of exceeding this range is only less than 0.3%, so according to this principle, the distribution space of the target is a circle with a radius of 3 σ, and then step S500 is performed;
s500, calculating accurately positioned HDOP distribution under different circular path radiuses, and determining the optimized circular path radius: according to the area where the target possibly exists, which is obtained by calculation in the step S200, and the TDOA algorithm HDOP distribution under different radiuses, which is obtained in the step S100, the HDOP sum in the area is calculated and averaged;
s600, comparing the average values obtained by different radiuses, wherein the radius corresponding to the minimum average value is the obtained optimal radius.
In this preferred embodiment, step S100 includes: calculating the accurately positioned HDOP distribution under different circular path radiuses:
positioning resolving equation based on time delay difference information:
wherein x and y are the horizontal and vertical coordinates of the target point, x i ,y i (i =0,1,2, 3) is the abscissa and ordinate of the four positioning solution points, c is the sound velocity, Δ t i (i =1,2, 3) is the delay difference between the two resolving points for the received acoustic signal,
the solution for HDOP is as follows:
D x the mode length of (b) is the HDOP,
wherein, partial differential matrix:
covariance matrix:
wherein
Is the standard deviation of error of the delay difference,
solving the error standard deviation, sigma, of point positioning for positioning c Is the standard deviation of the error in the speed of sound,
and obtaining HDOP distributions corresponding to different radii.
In this preferred embodiment, step S400 includes: determining a possible target range according to the rough measurement positioning result and the HDOP distribution thereof:
the positioning resolving equation based on the angle intersection is as follows:
the solution for HDOP is as follows:
D x the mode length of (b) is the HDOP,
wherein,
the specific result is shown in fig. 3, in which the black arc indicates a rough measurement path, and the black asterisk indicates the selected rough measurement ultrashort baseline intersection positioning resolving point. The black circles show the true position of the acoustic beacon. The positioning point HDOP under the rough measurement path 1 is 9.2m, and the possible range of the target determined according to the 3 sigma principle is an area surrounded by circles with the radius of 27.6 m; the locating point HDOP under the rough measurement path 2 is 16.0m, and the possible range of the target determined according to the 3 sigma principle is an area surrounded by circles with the radius of 48.0 m.
In this preferred embodiment, step S600 includes: calculating the accurate positioning HDOP distribution under different circular path radiuses, and determining the optimized circular path radius: according to the area where the target possibly exists, which is obtained by calculation in the second step, and the distribution of the HDOP of the TDOA algorithm under different radiuses, which is obtained in the first step, the total HDOP in the area is calculated and averaged, and an image with the horizontal axis as the radius of the loop and the vertical axis as the average HDOP is obtained, which is shown in FIG. 3. The optimized circular path radius is thus determined, namely:
it can be seen that the optimal airway radius is 710m.
Example calculation:
we simulate a simulation environment:
black box depth 3000 m AUV depth 2500 m, sound velocity error 1.5m/s, depth error 2m, time delay measurement error 0.3ms, inertial navigation error 0.5%, and ultrashort baseline angle measurement error 1 °
The method comprises the following steps: and calculating accurately positioned HDOP distribution under different circular path radiuses. The HDOP profiles at different loop radii (500 m and 750m for example) are shown in fig. 5. In the figure, a red circle shows a circular path, and a red asterisk shows selected positioning solution points on the circular path.
Step two: and determining a possible target range according to the rough measurement positioning result and the HDOP distribution thereof, wherein the specific result is shown in FIG. 6, in the figure, a red arc shows a rough measurement path, and a red asterisk shows the selected rough measurement ultrashort baseline intersection positioning resolving point. The black circles show the true position of the acoustic beacon. The locating point HDOP under the rough measurement path is 19.2m, and the possible target range determined according to the 3 sigma principle is an area surrounded by a circle with the radius of 57.6 m.
Step three: in the range of the radius of 57.6m with the assumed target point as the center of the circle, the average value of the HDOP at each radius in the step one is calculated, and an image with the horizontal axis as the loop radius and the vertical axis as the average value of the HDOP is obtained as shown in fig. 4. As can be seen, the optimal circular path radius is 580 meters.
Claims (4)
1. The method for optimizing the radius of the annular path for high-precision positioning of the deep-sea acoustic beacon is characterized by comprising the following steps of:
s100, taking four positioning resolving points, namely an upper positioning resolving point, a lower positioning resolving point, a left positioning resolving point and a right positioning resolving point on circles with different radiuses, and obtaining HDOP distribution corresponding to different radiuses under the conditions of time delay errors, resolving point positioning errors and sound speed errors, wherein the HDOP is a standard deviation of random distribution of the acoustic beacons and has a 3 sigma principle;
s200, judging whether all the radiuses are traversed, if so, executing a step S500; otherwise, returning to the step S100;
s300, in a direction finding guidance stage of an acoustic beacon searching process, two positioning resolving points are taken in a curve navigation track, and under the conditions of time delay errors, resolving point positioning errors and sound velocity errors, rough measurement positioning HDOP distribution of a target point is calculated;
s400 the probability of the numerical distribution in (μ -3 σ, μ +3 σ) is 0.9973, i.e. the values of the random variables are almost all concentrated in the (μ -3 σ, μ +3 σ) interval, and the probability of exceeding this range is only less than 0.3%, so according to this principle, the distribution space of the target is a circle with a radius of 3 σ, and then step S500 is performed;
s500, calculating accurately positioned HDOP distribution under different circular path radiuses, and determining the radius of the optimized circular path: according to the area where the target possibly exists, which is obtained by calculation in step S400, and the TDOA algorithm HDOP distribution under different radii, which is obtained in step S100, the sum of HDOPs in the area is calculated and averaged, wherein TDOA is time difference of arrival-time delay difference;
s600, comparing the average values obtained by different radiuses, wherein the radius corresponding to the minimum average value is the obtained optimal radius.
2. The method for optimizing the radius of the circular path for the high-precision positioning of the deep sea acoustic beacon according to claim 1, wherein the step S100 comprises: calculating the accurate positioning HDOP distribution under different circular path radiuses:
positioning resolving equation based on time delay difference information:
wherein x and y are the horizontal and vertical coordinates of the target point, x i ,y i (i =0,1,2, 3) is the abscissa and ordinate of the four positioning solution points, c is the sound velocity, Δ t i (i =1,2, 3) is the delay difference between the two resolving points for the received acoustic signal,
the solution for HDOP is as follows:
D x the mode length of (a) is the HDOP,
wherein, partial differential matrix:
covariance matrix:
wherein
Is the standard deviation of error of the delay difference,
solving the error standard deviation, sigma, of point positioning for positioning c Is the standard deviation of the error in the speed of sound,
and obtaining HDOP distributions corresponding to different radii.
3. The method for optimizing the radius of the circular path for the high-precision positioning of the deep sea acoustic beacon according to claim 1, wherein the step S400 comprises: determining a possible target range according to the rough measurement positioning result and the HDOP distribution thereof:
the positioning resolving equation based on the angle intersection is as follows:
the solution for HDOP is as follows:
D x the mode length of (a) is the HDOP,
wherein,
the distribution space of the target is a circle with a radius of 3 σ.
4. The method for optimizing the radius of the circular path for the deep sea acoustic beacon to locate with high precision according to claim 1, wherein the step S600 comprises: the determined optimized circular path radius is:
in the formula: e represents expectation.
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